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DexCap: Scalable and Portable Mocap Data Collection System for Dexterous Manipulation
March 13, 2024, 4:43 a.m. | Chen Wang, Haochen Shi, Weizhuo Wang, Ruohan Zhang, Li Fei-Fei, C. Karen Liu
cs.LG updates on arXiv.org arxiv.org
Abstract: Imitation learning from human hand motion data presents a promising avenue for imbuing robots with human-like dexterity in real-world manipulation tasks. Despite this potential, substantial challenges persist, particularly with the portability of existing hand motion capture (mocap) systems and the difficulty of translating mocap data into effective control policies. To tackle these issues, we introduce DexCap, a portable hand motion capture system, alongside DexIL, a novel imitation algorithm for training dexterous robot skills directly from …
arxiv collection cs.ai cs.cv cs.lg cs.ro data data collection manipulation scalable type
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